#ifndef _PID_H
#define _PID_H
#include "motor.h"
#include "my_struct.h"


#define ESC_output_PWM_LIMT			 	950

extern float KP; 
extern float KI; 
extern float KD;	

short HuanyuRobot_PID_Control(_Moto_Str* MotoStr);

		 				    
#endif


